Detailed Description

The central class for camera grabbers in MRPT, implementing the "generic sensor" interface.

This class provides the user with a uniform interface to a variety of other classes which manage only one specific camera "driver" (opencv, ffmpeg, PGR FlyCapture,...)

Following the "generic sensor" interface, all the parameters must be passed int the form of a configuration file, which may be also formed on the fly (without being a real config file) as in this example:

CCameraSensor myCam;
const string str =
   "[CONFIG]\n"
   "grabber_type=opencv\n";
CConfigFileMemory    cfg(str);
myCam.loadConfig(cfg,"CONFIG");
myCam.initialize();
CObservation::Ptr obs = myCam.getNextFrame();

Images can be retrieved through the normal "doProcess()" interface, or the specific method "getNextFrame()".

Some notes:

"grabber_type" determines the class to use internally for image capturing (see below).
For the meaning of cv_camera_type and other parameters, refer to mrpt::hwdrivers::CImageGrabber_OpenCV
For the parameters of dc1394 parameters, refer to generic IEEE1394 documentation, and to mrpt::hwdrivers::TCaptureOptions_dc1394.
If the high number of existing parameters annoy you, try the function prepareVideoSourceFromUserSelection(), which displays a GUI dialog to the user so he/she can choose the desired camera & its parameters.

Images can be saved in the "external storage" mode. Detached threads are created for this task. See setPathForExternalImages() and setExternalImageFormat(). These methods are called automatically from the app rawlog-grabber.

These is the list of all accepted parameters:

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    # Select one of the grabber implementations -----------------------
    grabber_type       = opencv | dc1394 | bumblebee_dc1394 | ffmpeg | rawlog
| swissranger | svs | kinect | flycap | flycap_stereo | image_dir | duo3d
    #  Options for any grabber_type ------------------------------------
    preview_decimation = 0     // N<=0 (or not present): No preview; N>0,
display 1 out of N captured frames.
    preview_reduction  = 0     // 0 or 1 (or not present): The preview shows
the actual image. For 2,3,..., reduces the size of the image by that factor,
only for the preview window.
    capture_grayscale  = 0     // 1:capture in grayscale, whenever the driver
allows it. Default=0
    #  For externaly stored images, the format of image files (default=jpg)
    #external_images_format  = jpg
    #  For externaly stored images: whether to spawn independent threads to
save the image files.
    #external_images_own_thread  = 1   // 0 or 1
    # If external_images_own_thread=1, this changes the number of threads to
launch
    #  to save image files. The default is determined from
mrpt::system::getNumberOfProcessors()
    #  and should be OK unless you want to save processor time for other
things.
    #external_images_own_thread_count = 2    // >=1
    # (Only when external_images_format=jpg): Optional parameter to set the
JPEG compression quality:
    #external_images_jpeg_quality = 95    // [1-100]. Default: 95
    # Pose of the sensor on the robot:
    pose_x=0        ; (meters)
    pose_y=0
    pose_z=0
    pose_yaw=0  ; (Angles in degrees)
    pose_pitch=0
    pose_roll=0
    # Options for grabber_type= opencv  ------------------------------------
    cv_camera_index  = 0       // [opencv] Number of camera to open
    cv_camera_type   = CAMERA_CV_AUTODETECT
    cv_frame_width   = 640     // [opencv] Capture width (not present or set
to 0 for default)
    cv_frame_height  = 480     // [opencv] Capture height (not present or set
to 0 for default)
    cv_fps           = 15      // [opencv] IEEE1394 cams only: Capture FPS
(not present or 0 for default)
    cv_gain          = 0       // [opencv] Camera gain, if available (nor
present or set to 0 for default).
    # Options for grabber_type= dc1394 -------------------------------------
    dc1394_camera_guid   = 0 | 0x11223344    // 0 (or not present): the first
camera; A hexadecimal number: The GUID of the camera to open
    dc1394_camera_unit   = 0                // 0 (or not present): the first
camera; 0,1,2,...: The unit number (within the given GUID) of the camera to
open (Stereo cameras: 0 or 1)
    dc1394_frame_width  = 640
    dc1394_frame_height = 480
    dc1394_framerate        = 15                    // eg: 7.5, 15, 30, 60,
etc... For posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
    dc1394_mode7         = -1                    // -1: Ignore, i>=0, set to
MODE7_i
    dc1394_color_coding = COLOR_CODING_YUV422   // For posibilities see
mrpt::hwdrivers::TCaptureOptions_dc1394
    # Options for setting feature values: dc1394_<feature> = <n>
    # with <feature> = brightness | exposure | sharpness | white_balance |
gamma | shutter | gain
    #      <n> a value, or -1 (or not present) for not to change this feature
value in the camera, possible values are shown in execution
    dc1394_shutter       = -1
    # Options for setting feature modes: dc1394_<feature>_mode = <n>
    # with <feature> = brightness | exposure | sharpness | white_balance |
gamma | shutter | gain
    #      <n> = -1 (or not present) [not to change] | 0 [manual] | 1 [auto]
| 2 [one_push_auto]
    dc1394_shutter_mode = -1
    # Options for setting trigger options:
    dc1394_trigger_power    = -1    // -1 (or not present) for not to change
| 0 [OFF] | 1 [ON]
    dc1394_trigger_mode = -1    // -1 (or not present) for not to change |
0..7 corresponding to possible modes 0,1,2,3,4,5,14,15
    dc1394_trigger_source= -1    // -1 (or not present) for not to change |
0..4 corresponding to possible sources 0,1,2,3,SOFTWARE
    dc1394_trigger_polarity = -1 // -1 (or not present) for not to change | 0
[ACTIVE_LOW] | 1 [ACTIVE_HIGH]
    dc1394_ring_buffer_size = 15  // Length of frames ring buffer (internal
to libdc1394)
    # Options for grabber_type= bumblebee_dc1394
----------------------------------
    bumblebee_dc1394_camera_guid   = 0 | 0x11223344  // 0 (or not present):
the first camera; A hexadecimal number: The GUID of the camera to open
    bumblebee_dc1394_camera_unit   = 0              // 0 (or not present):
the first camera; 0,1,2,...: The unit number (within the given GUID) of the
camera to open (Stereo cameras: 0 or 1)
    bumblebee_dc1394_framerate     = 15             // eg: 7.5, 15, 30,
60, etc... For posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
    # Options for grabber_type= ffmpeg -------------------------------------
    ffmpeg_url             = rtsp://127.0.0.1      // [ffmpeg] The video file
or IP camera to open
    # Options for grabber_type= rawlog -------------------------------------
    rawlog_file            = mylog.rawlog          // [rawlog] This can be
used to simulate the capture of images already grabbed in the past in the
form of a MRPT rawlog.
    rawlog_camera_sensor_label  = CAMERA1          // [rawlog] If this field
is not present, all images found in the rawlog will be retrieved. Otherwise,
only those observations with a matching sensor label.
    # Options for grabber_type= svs -------------------------------------
    svs_camera_index = 0
    svs_frame_width = 800
    svs_frame_height = 600
    svs_framerate = 25.0
    svs_NDisp = ...
    svs_Corrsize = ...
    svs_LR = ...
    svs_Thresh = ...
    svs_Unique = ...
    svs_Horopter = ...
    svs_SpeckleSize = ...
    svs_procesOnChip = false
    svs_calDisparity = true
    # Options for grabber_type= swissranger
-------------------------------------
    sr_use_usb         = true           // True: use USB, false: use
ethernet
    sr_IP              = 192.168.2.14    // If sr_use_usb=false, the camera
IP
    sr_grab_grayscale  = true            // whether to save the intensity
channel
    sr_grab_3d         = true            // whether to save the 3D points
    sr_grab_range      = true            // whether to save the range image
    sr_grab_confidence = true            // whether to save the confidence
image
    # Options for grabber_type= XBox kinect
-------------------------------------
    kinect_grab_intensity  = true            // whether to save the intensity
(RGB) channel
    kinect_grab_3d         = true            // whether to save the 3D points
    kinect_grab_range      = true            // whether to save the depth
image
    #kinect_video_rgb       = true            // Optional. If set to "false",
the IR intensity channel will be grabbed instead of the color RGB channel.
    # Options for grabber_type= flycap (Point Grey Research's FlyCapture 2
for Monocular and Stereo cameras, e.g. Bumblebee2) --------
    flycap_camera_index           = 0
    #... (all the parameters enumerated in
mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "flycap_")
    # Options for grabber_type= flycap_stereo (Point Grey Research's
FlyCapture 2, two cameras setup as a stereo pair) ------
    # fcs_start_synch_capture   = false  // *Important*: Only set to true if
using Firewire cameras: the "startSyncCapture()" command is unsupported in
USB3 and GigaE cameras.
    fcs_LEFT_camera_index           = 0
    #... (all the parameters enumerated in
mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_LEFT_")
    fcs_RIGHT_camera_index          = 0
    #... (all the parameters enumerated in
mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_RIGHT_")
    # Options for grabber_type= image_dir
    image_dir_url                   =               // [string] URL of the
directory
    left_filename_format                = imL_%05d.jpg  // [string] Format
including prefix, number of trailing zeros, digits and image format
(extension)
    right_filename_format           = imR_%05d.jpg  // [string] Format
including prefix, number of trailing zeros, digits and image format
(extension). Leave blank if only images from one camera will be used.
    start_index                     = 0             // [int]
Starting index for images
    end_index                       = 100           // [int]    End index
for the images
    # Options for grabber_type= duo3d
    Create a section like this:
    [DUO3DOptions]
    rawlog-grabber-ignore   = true // Instructs rawlog-grabber to ignore
this section (it is not a separate device!)
    image_width             = 640           // [int]    x Resolution
    image_height            = 480           // [int]    y Resolution
    fps                     = 30            // [int]    Frames per second
(<= 30)
    exposure                = 50            // [int]    Exposure value (1..100)
    led                     = 0             // [int]    Led intensity
(only for some device models) (1..100).
    gain                    = 50            // [int]    Camera gain (1..100)
    capture_rectified       = false         // [bool]   Rectify
captured images
    capture_imu             = true          // [bool]   Capture IMU data
from DUO3D device (if available)
    calibration_from_file   = true          // [bool]   Use YML
calibration files provided by calibration application supplied with DUO3D
device
    intrinsic_filename      = ""            // [string] Intrinsic
parameters file. This filename should contain a substring _RWWWxHHH_ with WWW
being the image width and HHH the image height, as provided by the
calibration application.
    extrinsic_filename      = ""            // [string] Extrinsic
parameters file. This filename should contain a substring _RWWWxHHH_ with WWW
being the image width and HHH the image height, as provided by the
calibration application.
    rectify_map_filename    = ""            // [string] Rectification map
file. This filename should contain a substring _RWWWxHHH_ with WWW being the
image width and HHH the image height, as provided by the calibration
application.
    // if 'calibration_from_file' = false, three more sections containing the
calibration must be provided:
    [DUO3D_LEFT]
    rawlog-grabber-ignore   = true // Instructs rawlog-grabber to ignore
this section (it is not a separate device!)
    resolution      = [640 480]
    cx              = 320
    cy              = 240
    fx              = 700
    fy              = 700
    dist            = [0 0 0 0 0]
    [DUO3D_RIGHT]
    rawlog-grabber-ignore   = true // Instructs rawlog-grabber to ignore
this section (it is not a separate device!)
    resolution      = [640 480]
    cx              = 320
    cy              = 240
    fx              = 700
    fy              = 700
    dist            = [0 0 0 0 0]
    [DUO3D_LEFT2RIGHT_POSE]
    rawlog-grabber-ignore   = true // Instructs rawlog-grabber to ignore
this section (it is not a separate device!)
    pose_quaternion = [0.12 0 0 1 0 0 0]

Note: The execution rate, in rawlog-grabber or the user code calling doProcess(), should be greater than the required capture FPS.; In Linux you may need to execute "chmod 666 /dev/video1394/ * " and "chmod 666 /dev/raw1394" for allowing any user R/W access to firewire cameras.; [New in MRPT 1.4.0] The bumblebee driver has been deleted, use the flycap driver in stereo mode.

See also: mrpt::hwdrivers::CImageGrabber_OpenCV, mrpt::hwdrivers::CImageGrabber_dc1394, CGenericSensor, prepareVideoSourceFromUserSelection()

Definition at line 344 of file CCameraSensor.h.

#include <mrpt/hwdrivers/CCameraSensor.h>

Inheritance diagram for mrpt::hwdrivers::CCameraSensor:

Public Types
using	Ptr = std::shared_ptr< CCameraSensor >

using	TPreSaveUserHook = std::function< void(const mrpt::obs::CObservation::Ptr &obs, void *user_ptr)>
	Functor type. More...

enum	TSensorState { ssInitializing = 0, ssWorking, ssError }
	The current state of the sensor. More...

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CCameraSensor ()
	Constructor. More...

virtual	~CCameraSensor ()
	Destructor. More...

void	doProcess ()
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

mrpt::obs::CObservation::Ptr	getNextFrame ()
	Retrieves the next frame from the video source, raising an exception on any error. More...

void	getNextFrame (std::vector< mrpt::serialization::CSerializable::Ptr > &out_obs)

virtual void	initialize ()
	Tries to open the camera, after setting all the parameters with a call to loadConfig. More...

void	close ()
	Close the camera (if open). More...

void	setSoftwareTriggerLevel (bool level)
	Set Software trigger level value (ON or OFF) for cameras with this function available. More...

virtual void	setPathForExternalImages (const std::string &directory)
	Set the path where to save off-rawlog image files (this class DOES take into account this path). More...

void	enableLaunchOwnThreadForSavingImages (bool enable=true)
	This must be called before initialize() More...

void	addPreSaveHook (TPreSaveUserHook user_function, void *user_ptr)
	Provides a "hook" for user-code to be run BEFORE an image is going to be saved to disk if external storage is enabled (e.g. More...

virtual const mrpt::hwdrivers::TSensorClassId *	GetRuntimeClass () const =0

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...

static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static CGenericSensor::Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection)
	See the class documentation at the top for expected parameters. More...

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
poses::CPose3D	m_sensorPose

std::string	m_grabber_type
	Can be "opencv",... More...

bool	m_capture_grayscale

int	m_cv_camera_index

std::string	m_cv_camera_type

TCaptureCVOptions	m_cv_options

uint64_t	m_dc1394_camera_guid

int	m_dc1394_camera_unit

TCaptureOptions_dc1394	m_dc1394_options

int	m_preview_decimation

int	m_preview_reduction

uint64_t	m_bumblebee_dc1394_camera_guid

int	m_bumblebee_dc1394_camera_unit

double	m_bumblebee_dc1394_framerate

int	m_svs_camera_index

TCaptureOptions_SVS	m_svs_options

std::string	m_ffmpeg_url

std::string	m_rawlog_file

std::string	m_rawlog_camera_sensor_label

std::string	m_rawlog_detected_images_dir

bool	m_sr_open_from_usb
	true: USB, false: ETH More...

std::string	m_sr_ip_address

bool	m_sr_save_3d
	Save the 3D point cloud (default: true) More...

bool	m_sr_save_range_img
	Save the 2D range image (default: true) More...

bool	m_sr_save_intensity_img
	Save the 2D intensity image (default: true) More...

bool	m_sr_save_confidence
	Save the estimated confidence 2D image (default: false) More...

bool	m_kinect_save_3d
	Save the 3D point cloud (default: true) More...

bool	m_kinect_save_range_img
	Save the 2D range image (default: true) More...

bool	m_kinect_save_intensity_img
	Save the 2D intensity image (default: true) More...

bool	m_kinect_video_rgb
	Save RGB or IR channels (default:true) More...

TCaptureOptions_FlyCapture2	m_flycap_options

bool	m_fcs_start_synch_capture

TCaptureOptions_FlyCapture2	m_flycap_stereo_options [2]

std::string	m_img_dir_url

std::string	m_img_dir_left_format

std::string	m_img_dir_right_format

int	m_img_dir_start_index

int	m_img_dir_end_index

bool	m_img_dir_is_stereo

int	m_img_dir_counter

TCaptureOptions_DUO3D	m_duo3d_options

bool	m_external_images_own_thread
	Whether to launch independent thread. More...

VerbosityLevel	m_min_verbosity_level
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state

bool	m_verbose

std::string	m_path_for_external_images
	The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate
	See CGenericSensor. More...

size_t	m_max_queue_len
	See CGenericSensor. More...

size_t	m_grab_decimation
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Private Attributes
std::unique_ptr< CImageGrabber_OpenCV >	m_cap_cv
	The OpenCV capture object. More...

std::unique_ptr< CImageGrabber_dc1394 >	m_cap_dc1394
	The dc1394 capture object. More...

std::unique_ptr< CImageGrabber_FlyCapture2 >	m_cap_flycap
	The FlyCapture2 object. More...

std::unique_ptr< CImageGrabber_FlyCapture2 >	m_cap_flycap_stereo_l
	The FlyCapture2 object for stereo pairs. More...

std::unique_ptr< CImageGrabber_FlyCapture2 >	m_cap_flycap_stereo_r

std::unique_ptr< CStereoGrabber_Bumblebee_libdc1394 >	m_cap_bumblebee_dc1394

std::unique_ptr< CStereoGrabber_SVS >	m_cap_svs
	The svs capture object. More...

std::unique_ptr< CFFMPEG_InputStream >	m_cap_ffmpeg
	The FFMPEG capture object. More...

std::unique_ptr< mrpt::io::CFileGZInputStream >	m_cap_rawlog
	The input file for rawlogs. More...

std::unique_ptr< CSwissRanger3DCamera >	m_cap_swissranger
	SR 3D camera object. More...

std::unique_ptr< CKinect >	m_cap_kinect
	Kinect camera object. More...

std::unique_ptr< COpenNI2Sensor >	m_cap_openni2
	OpenNI2 object. More...

std::unique_ptr< std::string >	m_cap_image_dir
	Read images from directory. More...

std::unique_ptr< CDUO3DCamera >	m_cap_duo3d
	The DUO3D capture object. More...

int	m_camera_grab_decimator

int	m_camera_grab_decimator_counter

int	m_preview_counter

mrpt::gui::CDisplayWindow::Ptr	m_preview_win1
	Normally we'll use only one window, but for stereo images we'll use two of them. More...

mrpt::gui::CDisplayWindow::Ptr	m_preview_win2

Stuff related to working threads to save images to disk
unsigned int	m_external_image_saver_count
	Number of working threads. More...

std::vector< std::thread >	m_threadImagesSaver

bool	m_threadImagesSaverShouldEnd

std::mutex	m_csToSaveList
	The critical section for m_toSaveList. More...

std::vector< TListObservations >	m_toSaveList
	The queues of objects to be returned by getObservations, one for each working thread. More...

TPreSaveUserHook	m_hook_pre_save

void *	m_hook_pre_save_param

void	thread_save_images (unsigned int my_working_thread_index)
	Thread to save images to files. More...

Logging methods
void	logStr (const VerbosityLevel level, const std::string &msg_str) const
	Main method to add the specified message string to the logger. More...

void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...

void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...

void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...

std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...

void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...

void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...

VerbosityLevel	getMinLoggingLevel () const

bool	isLoggingLevelVisible (VerbosityLevel level) const

void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...

std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...

void	writeLogToFile (const std::string *fname_in=NULL) const
	Write the contents of the COutputLogger instance to an external file. More...

void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...

std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...

void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...

void	loggerReset ()
	Reset the contents of the logger instance. More...

void	logRegisterCallback (output_logger_callback_t userFunc)

bool	logDeregisterCallback (output_logger_callback_t userFunc)

bool	logging_enable_console_output
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...

bool	logging_enable_keep_record
	[Default=false] Enables storing all messages into an internal list. More...

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CCameraSensor::Ptr = std::shared_ptr<CCameraSensor>

Definition at line 349 of file CCameraSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 79 of file CGenericSensor.h.

◆ TPreSaveUserHook

using mrpt::hwdrivers::CCameraSensor::TPreSaveUserHook = std::function<void( const mrpt::obs::CObservation::Ptr& obs, void* user_ptr)>

Functor type.

Definition at line 405 of file CCameraSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CCameraSensor()

CCameraSensor::CCameraSensor ( )

Constructor.

The camera is not open until "initialize" is called.

Definition at line 43 of file CCameraSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::ssInitializing.

◆ ~CCameraSensor()

CCameraSensor::~CCameraSensor ( )

virtual

Destructor.

Definition at line 721 of file CCameraSensor.cpp.

Member Function Documentation

◆ addPreSaveHook()

void mrpt::hwdrivers::CCameraSensor::addPreSaveHook	(	TPreSaveUserHook	user_function,
		void *	user_ptr
	)

inline

Provides a "hook" for user-code to be run BEFORE an image is going to be saved to disk if external storage is enabled (e.g.

to rectify images, preprocess them, etc.) Notice that this code may be called from detached threads, so it must be thread safe. If used, call this before initialize()

Definition at line 413 of file CCameraSensor.h.

References m_hook_pre_save, and m_hook_pre_save_param.

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 179 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & obj )

protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( new
CObservationGPS() );
  o-> .... // Set data
  appendObservation(o);

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 53 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

◆ close()

void CCameraSensor::close ( )

Close the camera (if open).

This method is called automatically on destruction.

Definition at line 399 of file CCameraSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::ssInitializing.

◆ createSensor()

CGenericSensor * CGenericSensor::createSensor ( const std::string & className )

staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 103 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

◆ createSensorPtr()

static CGenericSensor::Ptr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className )

inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 219 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

◆ doProcess()

void CCameraSensor::doProcess ( )

virtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 1385 of file CCameraSensor.cpp.

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also: writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ enableLaunchOwnThreadForSavingImages()

void mrpt::hwdrivers::CCameraSensor::enableLaunchOwnThreadForSavingImages ( bool enable = true )

inline

This must be called before initialize()

Definition at line 398 of file CCameraSensor.h.

References m_external_images_own_thread.

◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 105 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 289 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string & log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string & msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also: setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also: setMinLoggingLevel

Definition at line 200 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), and mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ getNextFrame() [1/2]

CObservation::Ptr CCameraSensor::getNextFrame ( )

Retrieves the next frame from the video source, raising an exception on any error.

Note: The returned observations can be of one of these classes (you can use IS_CLASS(obs,CObservationXXX) to determine it):

mrpt::obs::CObservationImage (For normal cameras or video sources)
mrpt::obs::CObservationStereoImages (For stereo cameras)
mrpt::obs::CObservation3DRangeScan (For 3D cameras)

Definition at line 731 of file CCameraSensor.cpp.

◆ getNextFrame() [2/2]

void CCameraSensor::getNextFrame ( std::vector< mrpt::serialization::CSerializable::Ptr > & out_obs )

Definition at line 741 of file CCameraSensor.cpp.

References mrpt::serialization::archiveFrom(), ASSERT_, mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::img::IMG_INTERP_NN, INVALID_TIMESTAMP, IS_CLASS, IS_DERIVED, mrpt::system::now(), mrpt::img::CImage::scaleImage(), mrpt::hwdrivers::CGenericSensor::ssError, THROW_EXCEPTION, mrpt::system::timeDifference(), mrpt::system::timestampTotime_t(), and trim().

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 91 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

◆ getProcessRate()

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const

inlineinherited

The current state of the sensor.

Definition at line 92 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

void CCameraSensor::initialize ( void )

virtual

Tries to open the camera, after setting all the parameters with a call to loadConfig.

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 103 of file CCameraSensor.cpp.

References mrpt::format(), mrpt::system::lowerCase(), mrpt::typemeta::TEnumType< ENUMTYPE >::name2value(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::hwdrivers::CImageGrabber_FlyCapture2::startSyncCapture(), thread_save_images(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, trim(), mrpt::system::upperCase(), mrpt::hwdrivers::CKinect::VIDEO_CHANNEL_IR, and mrpt::hwdrivers::CKinect::VIDEO_CHANNEL_RGB.

◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel level ) const

inlineinherited

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 106 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 132 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().

◆ loadConfig_sensorSpecific()

void CCameraSensor::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 429 of file CCameraSensor.cpp.

References ADD_COLOR_MAP, mrpt::hwdrivers::COLOR_CODING_MONO16, mrpt::hwdrivers::COLOR_CODING_MONO8, mrpt::hwdrivers::COLOR_CODING_RGB8, mrpt::hwdrivers::COLOR_CODING_YUV411, mrpt::hwdrivers::COLOR_CODING_YUV422, mrpt::hwdrivers::COLOR_CODING_YUV444, mrpt::DEG2RAD(), mrpt::hwdrivers::FRAMERATE_120, mrpt::hwdrivers::FRAMERATE_15, mrpt::hwdrivers::FRAMERATE_1_875, mrpt::hwdrivers::FRAMERATE_240, mrpt::hwdrivers::FRAMERATE_30, mrpt::hwdrivers::FRAMERATE_3_75, mrpt::hwdrivers::FRAMERATE_60, mrpt::hwdrivers::FRAMERATE_7_5, MRPT_LOAD_HERE_CONFIG_VAR, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::config::CConfigFileBase::read_string_first_word(), THROW_EXCEPTION_FMT, mrpt::system::trim(), and mrpt::system::upperCase().

◆ logCond()

void COutputLogger::logCond	(	const VerbosityLevel	level,
		bool	cond,
		const std::string &	msg_str
	)		const

inherited

Log the given message only if the condition is satisfied.

See also: log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t userFunc )

inherited

Returns: true if an entry was found and deleted.

Definition at line 290 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

◆ logFmt()

void COutputLogger::logFmt	(	const VerbosityLevel	level,
		const char *	fmt,
			...
	)		const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also: logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

◆ loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t userFunc )

inherited

Definition at line 277 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr	(	const VerbosityLevel	level,
		const std::string &	msg_str
	)		const

inherited

Main method to add the specified message string to the logger.

See also: logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

◆ registerClass()

void CGenericSensor::registerClass ( const TSensorClassId * pNewClass )

staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 121 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

◆ setExternalImageFormat()

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext )

inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See also: setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 278 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality )

inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See also: setExternalImageFormat

Definition at line 285 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string & name )

inherited

Set the name of the COutputLogger instance.

See also: getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), and mrpt::graphslam::CWindowManager::initCWindowManager().

◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), mrpt::hwdrivers::CHokuyoURG::initialize(), and mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ setPathForExternalImages()

void CCameraSensor::setPathForExternalImages ( const std::string & directory )

virtual

Set the path where to save off-rawlog image files (this class DOES take into account this path).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 1415 of file CCameraSensor.cpp.

References mrpt::system::createDirectory(), and THROW_EXCEPTION_FMT.

◆ setSensorLabel()

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 95 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ setSoftwareTriggerLevel()

void CCameraSensor::setSoftwareTriggerLevel ( bool level )

Set Software trigger level value (ON or OFF) for cameras with this function available.

Definition at line 1395 of file CCameraSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::ssError, and THROW_EXCEPTION.

◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::math::ransac_detect_2D_lines().

◆ thread_save_images()

void CCameraSensor::thread_save_images ( unsigned int my_working_thread_index )

private

Thread to save images to files.

Definition at line 1579 of file CCameraSensor.cpp.

References mrpt::system::fileNameStripInvalidChars(), mrpt::format(), IS_CLASS, IS_DERIVED, mrpt::system::timestampTotime_t(), and trim().

Referenced by initialize().

◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string * fname_in = NULL ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also: dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

Member Data Documentation

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 239 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record

inherited

[Default=false] Enables storing all messages into an internal list.

See also: writeLogToFile, getLogAsString

Definition at line 242 of file system/COutputLogger.h.

◆ m_bumblebee_dc1394_camera_guid

uint64_t mrpt::hwdrivers::CCameraSensor::m_bumblebee_dc1394_camera_guid

protected

Definition at line 441 of file CCameraSensor.h.

◆ m_bumblebee_dc1394_camera_unit

int mrpt::hwdrivers::CCameraSensor::m_bumblebee_dc1394_camera_unit

protected

Definition at line 442 of file CCameraSensor.h.

◆ m_bumblebee_dc1394_framerate

double mrpt::hwdrivers::CCameraSensor::m_bumblebee_dc1394_framerate

protected

Definition at line 443 of file CCameraSensor.h.

◆ m_camera_grab_decimator

int mrpt::hwdrivers::CCameraSensor::m_camera_grab_decimator

private

Definition at line 544 of file CCameraSensor.h.

◆ m_camera_grab_decimator_counter

int mrpt::hwdrivers::CCameraSensor::m_camera_grab_decimator_counter

private

Definition at line 545 of file CCameraSensor.h.

◆ m_cap_bumblebee_dc1394

std::unique_ptr<CStereoGrabber_Bumblebee_libdc1394> mrpt::hwdrivers::CCameraSensor::m_cap_bumblebee_dc1394

private

Definition at line 525 of file CCameraSensor.h.

◆ m_cap_cv

std::unique_ptr<CImageGrabber_OpenCV> mrpt::hwdrivers::CCameraSensor::m_cap_cv

private

The OpenCV capture object.

Definition at line 517 of file CCameraSensor.h.

◆ m_cap_dc1394

std::unique_ptr<CImageGrabber_dc1394> mrpt::hwdrivers::CCameraSensor::m_cap_dc1394

private

The dc1394 capture object.

Definition at line 519 of file CCameraSensor.h.

◆ m_cap_duo3d

std::unique_ptr<CDUO3DCamera> mrpt::hwdrivers::CCameraSensor::m_cap_duo3d

private

The DUO3D capture object.

Definition at line 541 of file CCameraSensor.h.

◆ m_cap_ffmpeg

std::unique_ptr<CFFMPEG_InputStream> mrpt::hwdrivers::CCameraSensor::m_cap_ffmpeg

private

The FFMPEG capture object.

Definition at line 529 of file CCameraSensor.h.

◆ m_cap_flycap

std::unique_ptr<CImageGrabber_FlyCapture2> mrpt::hwdrivers::CCameraSensor::m_cap_flycap

private

The FlyCapture2 object.

Definition at line 521 of file CCameraSensor.h.

◆ m_cap_flycap_stereo_l

std::unique_ptr<CImageGrabber_FlyCapture2> mrpt::hwdrivers::CCameraSensor::m_cap_flycap_stereo_l

private

The FlyCapture2 object for stereo pairs.

Definition at line 523 of file CCameraSensor.h.

◆ m_cap_flycap_stereo_r

std::unique_ptr<CImageGrabber_FlyCapture2> mrpt::hwdrivers::CCameraSensor::m_cap_flycap_stereo_r

private

Definition at line 523 of file CCameraSensor.h.

◆ m_cap_image_dir

std::unique_ptr<std::string> mrpt::hwdrivers::CCameraSensor::m_cap_image_dir

private

Read images from directory.

Definition at line 539 of file CCameraSensor.h.

◆ m_cap_kinect

std::unique_ptr<CKinect> mrpt::hwdrivers::CCameraSensor::m_cap_kinect

private

Kinect camera object.

Definition at line 535 of file CCameraSensor.h.

◆ m_cap_openni2

std::unique_ptr<COpenNI2Sensor> mrpt::hwdrivers::CCameraSensor::m_cap_openni2

private

OpenNI2 object.

Definition at line 537 of file CCameraSensor.h.

◆ m_cap_rawlog

std::unique_ptr<mrpt::io::CFileGZInputStream> mrpt::hwdrivers::CCameraSensor::m_cap_rawlog

private

The input file for rawlogs.

Definition at line 531 of file CCameraSensor.h.

◆ m_cap_svs

std::unique_ptr<CStereoGrabber_SVS> mrpt::hwdrivers::CCameraSensor::m_cap_svs

private

The svs capture object.

Definition at line 527 of file CCameraSensor.h.

◆ m_cap_swissranger

std::unique_ptr<CSwissRanger3DCamera> mrpt::hwdrivers::CCameraSensor::m_cap_swissranger

private

SR 3D camera object.

Definition at line 533 of file CCameraSensor.h.

◆ m_capture_grayscale

bool mrpt::hwdrivers::CCameraSensor::m_capture_grayscale

protected

Definition at line 425 of file CCameraSensor.h.

◆ m_csToSaveList

std::mutex mrpt::hwdrivers::CCameraSensor::m_csToSaveList

private

The critical section for m_toSaveList.

Definition at line 560 of file CCameraSensor.h.

◆ m_cv_camera_index

int mrpt::hwdrivers::CCameraSensor::m_cv_camera_index

protected

Definition at line 428 of file CCameraSensor.h.

◆ m_cv_camera_type

std::string mrpt::hwdrivers::CCameraSensor::m_cv_camera_type

protected

Definition at line 429 of file CCameraSensor.h.

◆ m_cv_options

TCaptureCVOptions mrpt::hwdrivers::CCameraSensor::m_cv_options

protected

Definition at line 430 of file CCameraSensor.h.

◆ m_dc1394_camera_guid

uint64_t mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_guid

protected

Definition at line 433 of file CCameraSensor.h.

◆ m_dc1394_camera_unit

int mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_unit

protected

Definition at line 434 of file CCameraSensor.h.

◆ m_dc1394_options

TCaptureOptions_dc1394 mrpt::hwdrivers::CCameraSensor::m_dc1394_options

protected

Definition at line 435 of file CCameraSensor.h.

◆ m_duo3d_options

TCaptureOptions_DUO3D mrpt::hwdrivers::CCameraSensor::m_duo3d_options

protected

Definition at line 503 of file CCameraSensor.h.

◆ m_external_image_saver_count

unsigned int mrpt::hwdrivers::CCameraSensor::m_external_image_saver_count

private

Number of working threads.

Default:1, set to 2 in quad cores.

Definition at line 555 of file CCameraSensor.h.

◆ m_external_images_format

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format

protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See also: setPathForExternalImages

Definition at line 157 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 159 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_external_images_own_thread

bool mrpt::hwdrivers::CCameraSensor::m_external_images_own_thread

protected

Whether to launch independent thread.

Definition at line 507 of file CCameraSensor.h.

Referenced by enableLaunchOwnThreadForSavingImages().

◆ m_fcs_start_synch_capture

bool mrpt::hwdrivers::CCameraSensor::m_fcs_start_synch_capture

protected

Definition at line 488 of file CCameraSensor.h.

◆ m_ffmpeg_url

std::string mrpt::hwdrivers::CCameraSensor::m_ffmpeg_url

protected

Definition at line 450 of file CCameraSensor.h.

◆ m_flycap_options

TCaptureOptions_FlyCapture2 mrpt::hwdrivers::CCameraSensor::m_flycap_options

protected

Definition at line 484 of file CCameraSensor.h.

◆ m_flycap_stereo_options

TCaptureOptions_FlyCapture2 mrpt::hwdrivers::CCameraSensor::m_flycap_stereo_options[2]

protected

Definition at line 490 of file CCameraSensor.h.

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 138 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 145 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grabber_type

std::string mrpt::hwdrivers::CCameraSensor::m_grabber_type

protected

Can be "opencv",...

Definition at line 424 of file CCameraSensor.h.

◆ m_hook_pre_save

TPreSaveUserHook mrpt::hwdrivers::CCameraSensor::m_hook_pre_save

private

Definition at line 567 of file CCameraSensor.h.

Referenced by addPreSaveHook().

◆ m_hook_pre_save_param

void* mrpt::hwdrivers::CCameraSensor::m_hook_pre_save_param

private

Definition at line 568 of file CCameraSensor.h.

Referenced by addPreSaveHook().

◆ m_img_dir_counter

int mrpt::hwdrivers::CCameraSensor::m_img_dir_counter

protected

Definition at line 500 of file CCameraSensor.h.

◆ m_img_dir_end_index

int mrpt::hwdrivers::CCameraSensor::m_img_dir_end_index

protected

Definition at line 497 of file CCameraSensor.h.

◆ m_img_dir_is_stereo

bool mrpt::hwdrivers::CCameraSensor::m_img_dir_is_stereo

protected

Definition at line 499 of file CCameraSensor.h.

◆ m_img_dir_left_format

std::string mrpt::hwdrivers::CCameraSensor::m_img_dir_left_format

protected

Definition at line 494 of file CCameraSensor.h.

◆ m_img_dir_right_format

std::string mrpt::hwdrivers::CCameraSensor::m_img_dir_right_format

protected

Definition at line 495 of file CCameraSensor.h.

◆ m_img_dir_start_index

int mrpt::hwdrivers::CCameraSensor::m_img_dir_start_index

protected

Definition at line 496 of file CCameraSensor.h.

◆ m_img_dir_url

std::string mrpt::hwdrivers::CCameraSensor::m_img_dir_url

protected

Definition at line 493 of file CCameraSensor.h.

◆ m_kinect_save_3d

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_3d

protected

Save the 3D point cloud (default: true)

Definition at line 474 of file CCameraSensor.h.

◆ m_kinect_save_intensity_img

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_intensity_img

protected

Save the 2D intensity image (default: true)

Definition at line 478 of file CCameraSensor.h.

◆ m_kinect_save_range_img

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_range_img

protected

Save the 2D range image (default: true)

Definition at line 476 of file CCameraSensor.h.

◆ m_kinect_video_rgb

bool mrpt::hwdrivers::CCameraSensor::m_kinect_video_rgb

protected

Save RGB or IR channels (default:true)

Definition at line 480 of file CCameraSensor.h.

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 135 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 252 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_path_for_external_images

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images

protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 154 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_preview_counter

int mrpt::hwdrivers::CCameraSensor::m_preview_counter

private

Definition at line 547 of file CCameraSensor.h.

◆ m_preview_decimation

int mrpt::hwdrivers::CCameraSensor::m_preview_decimation

protected

Definition at line 436 of file CCameraSensor.h.

◆ m_preview_reduction

int mrpt::hwdrivers::CCameraSensor::m_preview_reduction

protected

Definition at line 437 of file CCameraSensor.h.

◆ m_preview_win1

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CCameraSensor::m_preview_win1

private

Normally we'll use only one window, but for stereo images we'll use two of them.

Definition at line 550 of file CCameraSensor.h.

◆ m_preview_win2

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CCameraSensor::m_preview_win2

private

Definition at line 550 of file CCameraSensor.h.

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 133 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_rawlog_camera_sensor_label

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_camera_sensor_label

protected

Definition at line 454 of file CCameraSensor.h.

◆ m_rawlog_detected_images_dir

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_detected_images_dir

protected

Definition at line 455 of file CCameraSensor.h.

◆ m_rawlog_file

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_file

protected

Definition at line 453 of file CCameraSensor.h.

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

◆ m_sensorPose

poses::CPose3D mrpt::hwdrivers::CCameraSensor::m_sensorPose

protected

Definition at line 417 of file CCameraSensor.h.

◆ m_sr_ip_address

std::string mrpt::hwdrivers::CCameraSensor::m_sr_ip_address

protected

Definition at line 461 of file CCameraSensor.h.

◆ m_sr_open_from_usb

bool mrpt::hwdrivers::CCameraSensor::m_sr_open_from_usb

protected

true: USB, false: ETH

Definition at line 460 of file CCameraSensor.h.

◆ m_sr_save_3d

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_3d

protected

Save the 3D point cloud (default: true)

Definition at line 463 of file CCameraSensor.h.

◆ m_sr_save_confidence

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_confidence

protected

Save the estimated confidence 2D image (default: false)

Definition at line 469 of file CCameraSensor.h.

◆ m_sr_save_intensity_img

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_intensity_img

protected

Save the 2D intensity image (default: true)

Definition at line 467 of file CCameraSensor.h.

◆ m_sr_save_range_img

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_range_img

protected

Save the 2D range image (default: true)

Definition at line 465 of file CCameraSensor.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 147 of file CGenericSensor.h.

◆ m_svs_camera_index

int mrpt::hwdrivers::CCameraSensor::m_svs_camera_index

protected

Definition at line 446 of file CCameraSensor.h.

◆ m_svs_options

TCaptureOptions_SVS mrpt::hwdrivers::CCameraSensor::m_svs_options

protected

Definition at line 447 of file CCameraSensor.h.

◆ m_threadImagesSaver

std::vector<std::thread> mrpt::hwdrivers::CCameraSensor::m_threadImagesSaver

private

Definition at line 556 of file CCameraSensor.h.

◆ m_threadImagesSaverShouldEnd

bool mrpt::hwdrivers::CCameraSensor::m_threadImagesSaverShouldEnd

private

Definition at line 558 of file CCameraSensor.h.

◆ m_toSaveList

std::vector<TListObservations> mrpt::hwdrivers::CCameraSensor::m_toSaveList

private

The queues of objects to be returned by getObservations, one for each working thread.

Definition at line 563 of file CCameraSensor.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 148 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Stuff related to working threads to save images to disk

Logging methods

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

◆ TPreSaveUserHook

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CCameraSensor()

◆ ~CCameraSensor()

Member Function Documentation

◆ addPreSaveHook()

◆ appendObservation()

◆ appendObservations()

◆ close()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ dumpLogToConsole()

◆ enableLaunchOwnThreadForSavingImages()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getLogAsString() [1/2]

◆ getLogAsString() [2/2]

◆ getLoggerLastMsg() [1/2]

◆ getLoggerLastMsg() [2/2]

◆ getLoggerName()

◆ getMinLoggingLevel()

◆ getNextFrame() [1/2]

◆ getNextFrame() [2/2]

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isLoggingLevelVisible()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ logCond()

◆ logDeregisterCallback()

◆ logFmt()

◆ loggerReset()

◆ logging_levels_to_colors()

◆ logging_levels_to_names()

◆ logRegisterCallback()

◆ logStr()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setLoggerName()

◆ setMinLoggingLevel()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ setSoftwareTriggerLevel()

◆ setVerbosityLevel()

◆ thread_save_images()

◆ writeLogToFile()

Member Data Documentation

◆ logging_enable_console_output

◆ logging_enable_keep_record

◆ m_bumblebee_dc1394_camera_guid

◆ m_bumblebee_dc1394_camera_unit

◆ m_bumblebee_dc1394_framerate

◆ m_camera_grab_decimator

◆ m_camera_grab_decimator_counter

◆ m_cap_bumblebee_dc1394

◆ m_cap_cv

◆ m_cap_dc1394

◆ m_cap_duo3d